Professor Keith L. Clark

Emeritus Professor: Imperial College
Honorary Professor: University of Queensland, University of New South Wales
Visiting Professor: Royal Holloway College, University College, Huddersfield University, Brunel University

The agent uses the arms to build towers of blocks distibuted over three tables. It uses the arms in parallel whenever possible and in such a way that the tasks do not intefere with one another. Nor do the arms clash although both must occasionally be used to access a shared table. The control program for each task is an multi-tasking/multi-resource using extension of Nilsson's program controlling a single arm building a single tower of Teleo Reactive Block Tower Builder.

Below are links to three videos of multi-tasking using multiple robotic arm resources
:

Two simulated robot arms, controlled by an agent with four tower building tasks, with a voice over explanation of the behaviour

Each agent controls a mobile robot that moves through a network of
open doorways following tracks. The maintain the same beliefs about
their environment by continually notifying one another of their
current room location, that open/closed status of doors in each room
they enter, and their current doorway path intentions. The location
and path intentions are used to avoid collisions on tracks.
.

This is a video of a
Python visualisation of the communicating path following robots.

The extension to Nilsson's TR procedures that is used as the main agent
programming language has new forms of TR rules, new forms of action, and the concept of task atomic procedures. Task atomic procedures ensure deadlock free fair sharing of the robot arms and table resources between the tasks. The extensions are covered in a forthcoming book: